Faless/harvest_apples_with_agilex_piper_sim_ee

该数据集是一个机器人学领域的数据集，专注于使用AgileX Piper模拟器进行苹果采摘任务，特别强调末端执行器的位姿信息。数据集由LeRobot v3从源数据集Faless/harvest_apples_with_agilex_piper_sim转换而来。它包含600个episodes和1,020,000帧，帧率为25 FPS。摄像头视角包括observation.images.ego和observation.images.front。动作变量由末端执行器的位置（x, y, z）、欧拉角方向（roll, pitch, yaw）以及夹爪位置组成；状态变量则额外包括夹爪扭矩。末端执行器位置以米为单位，方向以弧度表示。视频数据保持原样，而动作和状态数据及相关表格统计信息以末端执行器位姿空间表示。

This dataset is a robotics dataset focused on harvesting apples using the AgileX Piper simulator, with an emphasis on end-effector pose information. It is converted from the source dataset Faless/harvest_apples_with_agilex_piper_sim as part of LeRobot v3. The dataset includes 600 episodes, 1,020,000 frames at 25 FPS. Cameras used are observation.images.ego and observation.images.front. The action variable consists of end-effector position (x, y, z), Euler RPY orientation (roll, pitch, yaw), and gripper position; the state variable adds gripper torque. End-effector position is in meters and orientation in radians. Videos are unchanged from the source, while action/state and associated tabular statistics are represented in end-effector pose space.